Presentations (Electrical and Computer Engineering)
Items in this Collection
- 13Mahdi Tavakoli
- 6Ali Jazayeri
- 3Abed Soleymani
- 3Hadis Karimipour, Venkata Dinavahi
- 3Shengjun Huang, Venkata Dinavahi
- 3Teng Li
Amir Zakerimanesh, Tony Z. Qiu, Mahdi Tavakoli
Platooning which is defined as controlling a group of autonomous vehicles (multiple followers and one leader) to have a desired distance between them while following a desired trajectory has caught on recently in the control engineering discipline. Platooning brings along promising advantages,...
Improving a User's Haptic Perceptual Sensitivity by Optimizing Effective Manipulability of a Redundant User InterfaceDownload
Teng Li, Ali Torabi, Hongjun Xing, Mahdi Tavakoli
ABSTRACT: Human perceptual sensitivity of various types of forces, e.g., stiffness and friction, is important for surgeons during robotic surgeries such as needle insertion and palpation. However, force feedback from robot end-effector is usually a combination of desired and undesired force...
Integrating Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control in Elbow Arthroscopic SurgeryDownload
Teng Li, Armin Badre, Hamid D. Taghirad, Mahdi Tavakoli
ABSTRACT: Robot-assisted arthroscopic surgery is transforming the tradition in orthopaedic surgery. Compliance and stability are essential features that a surgical robot must have for safe physical human-robot interaction (pHRI). Surgical tools attached at the robot end-effector and human-robot...
Matthew Dyck, Ali Jazayeri, Mahdi Tavakoli
Conventional approaches for stability analysis of bilateral teleoperation systems assume that the human operator does not inject energy into the system and behaves in a passive manner. Does this assumption hold for various tasks the human operator may execute in a teleoperation context? To answer...
Machine-learned Adaptive Switching in Voluntary Lower-limb Exoskeleton Control: Preliminary ResultsDownload
Pouria Faridi, Javad K. Mehr, Don Wilson, Mojtaba Sharifi, Mahdi Tavakoli, Patrick M. Pilarski, Vivian K. Mushahwar
Lower-limb exoskeletons utilize fixed control strategies and are not adaptable to user’s intention. To this end, the goal of this study was to investigate the potential of using temporal-difference learning and general value functions for predicting the next possible walking mode that will be...
Manipulability of Teleoperated Surgical Robots with Application in Design of Master/Slave ManipulatorsDownload
Torabi, Ali, Khadem, Mohsen, Zareinia, Kourosh, Sutherland, Garnette, Tavakoli, Mahdi
Teleoperated surgical robots can significantly improve the performance of minimally invasive surgeries. The performance of a master-slave robotic system depends significantly on the capability of its master device to appropriately interface the user with the slave robot. However, master robots...